Analysing RoboChart with probabilities

Robotic systems have applications in many real-life scenarios, ranging from household cleaning to critical operations. RoboChart is a graphical language for describing robotic controllers designed specifically for autonomous and mobile robots, providing architectural constructs to identify the requirements for a robotic platform. It also provides a formal semantics in CSP. RoboChart has a probabilistic operator (P) but no associated probabilistic CSP semantics. When (P) is used, currently a non-deterministic choice (Π) is used as semantics; this is a conservative semantics but it does not allow the analysis of stochastic properties. In this paper we define the semantics of the operator in terms of the probabilistic CSP operator ⊞. We also show how this augmented CSP semantics for RoboChart can be translated into the PRISM probabilistic language to be able to check stochastic properties.